Underwater bionic robot

摘要

Usage: self-propelled underwater vehicles. Task: improving the controllability of the apparatus. Essence: the device comprises a housing 1, on which a gear motor 2 is mounted, kinematically connected with the cam mechanism. The cam mechanism consists of a cam 3, a progressively moving pusher 4 and a roller 5. The pusher 4 is rigidly connected to a rack 6, which engages with a gear wheel 7, rigidly connected to the tail fin 8. The roller 5 is movably mounted on one end of the pusher 4 and moves along the groove of the cam 3. The second end of the pusher 4 slides along the guide 9 mounted stationary inside the housing 1. To ensure the tightness of the device, a bellows 10 is installed on its wall. The device operates as follows. When applying voltage to the gear motor 2, the cam 3 begins to rotate around its axis and transmits reciprocating motion to the push rod 4, rigidly connected to the rack 6, which engages with the gear 7, rigidly connected to the tail fin 8. In this case, the rack 6 transmits the oscillating motion to the gear 7 and the tail fin 8. By changing the drive power law using the control system, the amplitude of the waving movements of the tail 8 relative to the axes can be changed. In addition, changing the shape of the cam profile, you can change the laws of tail 8. The positive effect: the use of a cam mechanism with a geometric closure will reduce the load on the links of the device compared to the circuit with a power closure, which is used in the prototype. 2 ill.